Variable-rigidity flexible mechanical arm module and control method thereof

Abstract

The invention relates to a variable-rigidity flexible mechanical arm module and a control method thereof. The variable-rigidity flexible mechanical arm module comprises two connecting plates (1) arranged on two sides, and a plurality of silica gel inflatable bags (2) are connected between the two connecting plates (1), wherein the plurality of silica gel inflatable bags (2) comprise variable stiffness silica gel inflatable bags which are used for generating an antagonistic effect and are arranged in the middle of the two connecting plates (1), and further comprise curved silica gel inflatablebags which are uniformly distributed around the two connecting plates (1) and are used for controlling the deformation shape; and each silica gel inflatable bag (2) is connected with an air pipe, theconnecting plates (1) are provided with pipeline passing holes (4) for allowing the air pipes to pass through, and the connecting plates (1) are further provided with connecting structures which can be in butt joint with a connecting plate of other flexible mechanical arm module so that the plurality of flexible mechanical arm modules can be connected in series. The variable-rigidity flexible mechanical arm module is simple in structure, convenient to assemble and flexible in movement; and the control method of the flexible mechanical arm module is efficient in work and the control precision is high.

Description

technical field [0001] The invention relates to the technical field of soft manipulator manufacturing, in particular to a variable stiffness soft manipulator module and a control method thereof. Background technique [0002] For the variable stiffness function of the soft manipulator, Harbin Institute of Technology has developed an inflatable soft manipulator with adjustable hardness. It uses the method of mechanical design to solve the problem of insufficient rigidity of the traditional inflatable soft manipulator. The manipulator includes an inflatable soft manipulator main body, a restrictive layer arranged in the side wall of one side of the main body, and an air nozzle arranged at one end of the main body, etc., for grasping objects. The disadvantage of this invention is that the design structure is complex, especially the installation of the trachea in the restricted layer will have certain difficulties; the requirements for the material of the airbag of the soft mani...

AI Technical Summary

Problems solved by technology

The disadvantage of this invention is that the design structure is complex, especially the installation of the trachea in the restricted layer will have certain difficulties; the requirements for the material of the airbag of the soft manipulator and the trachea for variable stiffness are relatively high, and it is necessary to use the air tube in the manufacture of the invention. Prepare at least three soft materials with different hardness

The disadvantage of this invention is that the cost of the Hall sensor is high and the quantity required is large, it is difficult to realize the automatic control of the soft manipulator in a complex environment, especially in a strong magnetic field environment

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